Another one has failed but this one is still working. This is Bank 2 Sensor 2 for Toyota Avalon 2005-2009. Denso is an OEM. Without doubt. Be sure to use a CRC connector cleaner and yes, in some rare cases it could be a wiring/circuit or water issue. Sometimes they are difficult to remove. Spray with a PB blaster and ride for a few days, and then maybe another PB blaster before taking it off.
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